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Multiple AMR Rigid Formation control With Collision Avoidance Based On MADDPG 41

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Multiple AMR Rigid Formation Control With Collision Avoidanc...

第41届中国控制会议

作者： Kaiqi Wu Qing Wang YongBao Wu Jian Liu Lei Xue The College of Software Engineering Southeast University SEU-Monash Joint Graduate school Southeast University School of Automation Southeast UniversityKey Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Recently,the formation control of multiple autonomous mobile robots(AMRs) have gained significant attention,and autonomous mobile robots(AMRs) have applied to all aspects of our ***-agent reinforcement learning is used to solve the autonomously sequential decision-making problem of agents in a common environment with competition or ***,we present a utility function and a reward function to achieve formation control with collision avoidance for a rigid AMRs system,and build a simulation environment to meet environmental requirements based on MPE.

关键词： Formation control Reinforcement learning Rigid system Collision avoidance

Data-Driven Multi-step Nonlinear Model Predictive control for Industrial Heavy Load Hydraulic Robot

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arXiv 2024年

作者： Ma, Dexian Zhou, Bo Key Laboratory of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University Ministry of Education Nanjing210096 China

Automating complex industrial robots requires precise nonlinear control and efficient energy management. This paper introduces a data-driven nonlinear model predictive control (NMPC) framework to optimize control under multiple objectives. To enhance the prediction accuracy of the dynamic model, we design a single-shot multi-step prediction (SSMP) model based on long short-term memory (LSTM) and multilayer perceptrons (MLP), which can directly obtain the predictive horizon without iterative repetition and reduce computational pressure. Moreover, we combine offline and online models to address disturbances stemming from environmental interactions, similar to the superposition of the robot’s free and forced responses. The online model learns the system’s variations from the prediction mismatches of the offline model and updates its weights in real time. The proposed hybrid predictive model simplifies the relationship between inputs and outputs into matrix multiplication, which can quickly obtain the derivative. Therefore, the solution for the control signal sequence employs a gradient descent method with an adaptive learning rate, allowing the NMPC cost function to be formulated as a convex function incorporating critical states. The learning rate is dynamically adjusted based on state errors to counteract the inherent prediction inaccuracies of neural networks. The controller outputs the average value of the control signal sequence instead of the first value. Simulations and experiments on a 22-ton hydraulic excavator have validated the effectiveness of our method, showing that the proposed NMPC approach can be widely applied to industrial systems, including nonlinear control and energy management. Copyright © 2024, The Authors. All rights reserved.

关键词： Excavators

Real-Time Multi-View Human Pose Estimation System

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Real-Time Multi-View Human Pose Estimation System

Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Yuan Yang Yangang Wang School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

We present a highly synchronized multi-view hardware acquisition system that simultaneously enables real-time multi-person pose estimation. We design a hardware synchronizer to achieve multi camera synchronous shooting, with a synchronization latency rate of only 10 −8 seconds. Based on this, we construct a multi-view hardware synchronous acquisition system. This system can be flexibly deployed in various environments to capture moving targets, such as bodies, clothing, hands, etc. Leveraging the distributed computing capabilities of the system, we further develop a multi-view multi-person pose estimation algorithm framework that fulfills real-time requirements and achieves an average frame rate of 40FPS in experimental settings while demonstrating robustness against human motion and occlusion.

关键词： Pose estimation Data acquisition Clothing Cameras Hardware Real-time systems Robustness

Rethinking Iterative Stereo Matching from Diffusion Bridge Model Perspective

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arXiv 2024年

作者： Shi, Yuguang The School of Automation Southeast University The Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

Recently, iteration-based stereo matching has shown great potential. However, these models optimize the disparity map using RNN variants. The discrete optimization process poses a challenge of information loss, which restricts the level of detail that can be expressed in the generated disparity map. In order to address these issues, we propose a novel training approach that incorporates diffusion models into the iterative optimization process. We designed a Time-based Gated Recurrent Unit (T-GRU) to correlate temporal and disparity outputs. Unlike standard recurrent units, we employ Agent Attention to generate more expressive features. We also designed an attention-based context network to capture a large amount of contextual information. Experiments on several public benchmarks show that we have achieved competitive stereo matching performance. Our model ranks first in the Scene Flow dataset, achieving over a 7% improvement compared to competing methods, and requires only 8 iterations to achieve state-of-the-art results. Copyright © 2024, The Authors. All rights reserved.

关键词： Optimization

Calibration of 3D Single-pixel Imaging systems with a Calibration Field

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arXiv 2024年

作者： Ma, Xinyue Wang, Chenxing The School of Automation The Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China

3D single-pixel imaging (SPI) is a promising imaging technique that can be flexibly applied to various wavebands. The main challenge in 3D SPI is that the calibration usually requires a large number of standard points as references, which are tricky to capture using single-pixel detectors. Conventional solutions involve sophisticated device deployment and cumbersome operations, resulting in hundreds of images needed for calibration. In our work, we construct a Calibration Field (CaliF) to efficiently generate the standard points from one single image. A high accuracy of the CaliF is guaranteed by the technique of deep learning and digital twin. We perform experiments with our new method to verify its validity and accuracy. We believe our work holds great potential in 3D SPI systems or even general imaging systems. Copyright © 2024, The Authors. All rights reserved.

关键词： Calibration

A Data-Driven Modeling and Motion control of Heavy-Load Hydraulic Manipulators via Reversible Transformation

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arXiv 2024年

作者： Ma, Dexian Liu, Yirong Liu, Wenbo Zhou, Bo Key Laboratory of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University Ministry of Education Nanjing210096 China

This work proposes a data-driven modeling and the corresponding hybrid motion control framework for unmanned and automated operation of industrial heavy-load hydraulic manipulator. Rather than the direct use of a neural network black box, we construct a reversible nonlinear model by using multilayer perceptron to approximate dynamics in the physical integrator chain system after reversible transformations. The reversible nonlinear model is trained offline using supervised learning techniques, and the data are obtained from simulations or experiments. Entire hybrid motion control framework consists of the model inversion controller that compensates for the nonlinear dynamics and proportional-derivative controller that enhances the robustness. The stability is proved with Lyapunov theory. Co-simulation and Experiments show the effectiveness of proposed modeling and hybrid control framework. With a commercial 39-ton class hydraulic excavator for motion control tasks, the root mean square error of trajectory tracking error decreases by at least 50% compared to traditional control methods. In addition, by analyzing the system model, the proposed framework can be rapidly applied to different control plants. Copyright © 2024, The Authors. All rights reserved.

关键词： Industrial manipulators

Study on Self-Organizing Aggregation Method for Massive Flexible Resources and Its Simulation 4

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Study on Self-Organizing Aggregation Method for Massive Flex...

4th International Conference on Advanced Electrical and Energy systems, AEES 2023

作者： Yin, Changwei Ji, Wenlu Ye, Ting Mao, Tingfeng Zhang, Kaifeng Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China Nanjing Power Supply Company of State Grid Jiangsu Electric Power Co. Ltd. Nanjing China

ISBN: (纸本)9798350342659

Distributed flexible resources are developing in the trend of sea quantization. In this situation, the existing resource aggregation methods are facing bottlenecks, and it is difficult to fully exploit the regulation potential of massive flexible resources. In order to achieve efficient and flexible aggregation in the scenario of massive resources, this paper proposes a self-organizing aggregation method for flexible resources based on the social network and simulates the aggregation process under the proposed method based on the multi-agent simulation platform NetLogo. Firstly, this paper outlines the idea of the self-organizing aggregation method for flexible resources, which projects flexible resources from the physical space to the social network space, and realizes flexible aggregation through the interactive attraction between resources in the social network. Secondly, this paper establishes a simulation model for flexible resource self-organizing aggregation based on the NetLogo platform. The model defines four types of agents involved in the self-organizing aggregation process and provides detailed specifications for their attributes and interaction rules. Finally, simulation experiments are designed to verify the rationality of the self-organizing aggregation method and simulation model proposed in this paper. The simulation results show that, following the idea of self-organizing aggregation, massive flexible resources can autonomously and flexibly aggregate through the interaction attraction in the social network due to the incentive of task gain, demonstrating the effectiveness and rationality of the self-organizing aggregation method and the simulation model proposed in this paper. © 2023 IEEE.

关键词： Multi agent systems

Pager Explosion:Cybersecurity Insights and Afterthoughts

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IEEE/CAA Journal of Automatica Sinica 2024年第12期11卷 2359-2362页

作者： Chuan Sheng Wanlun Ma Qing-Long Han Wei Zhou Xiaogang Zhu Sheng Wen Yang Xiang Fei-Yue Wang Swinburne University of Technology Hawthorn VIC 3122Australia IEEE the School of Computer and Mathematical Sciences the University of AdelaideAdelaideSouth Australia 5005Australia the State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 the Department of Engineering Science Faculty of Innovation EngineeringMacao University of Science and TechnologyMacao 999078China

PAGER EXPLOSION:THE *** 2024 Lebanon pager explosions represent one of the most unexpected and devastating technological incidents in recent *** September 17 and 18,2024,thousands of pagers and walkie-talkies exploded simultaneously across Lebanon and parts of Syria,resulting in 42 deaths and more than 3500 *** handheld communication devices,previously regarded as secure and low-profile,were rigged with concealed explosives and remotely triggered by attackers.

关键词： injuries thoughts explosion

Consensus control of second-order stochastic discrete-time multi-agent systems without velocity transmission

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control Theory and Technology 2023年第4期21卷 591-601页

作者： Zi-Xuan Wang Xiaofeng Zong Ling-Jie Gai School of Automation China University of GeosciencesWuhan430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems WuhanHubeiChina Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhanHubeiChina

This article studies the almost-sure and the mean-square consensus control problems of second-order stochastic discrete-time multi-agent systems with multiplicative ***,a control law based on the absolute velocity and relative position information is ***,considering the existence of multiplicative noises and nonlinear terms with Lipschitz constants,the consensus control problem is solved through the use of a degenerated Lyapunov ***,for the linear second-order multi-agent systems,some explicit consensus conditions are ***,two sets of numerical simulations are performed.

关键词： Consensus control Multiplicative noises Second-order Discrete-time Multi-agent system